First steps for Legavos

I've been wanting to build a mech for a long time, but, well, it's a complex thing. My last attempt (http://forums.trossenrobotics.com/sh...uple-questions) ended up with a bunch of parts and some technical knowledge, but no actual mech. So after a year of building micro (~10cm) tracked FPV vehicles, I thought I'd turn my attention to walking robots again.

So, I decided to strip things down to the basics, and let me present to you the light-class mech: Legavos

With the current mechanics the payload could be doubled (to 2kg) at the cost of halving the speed, but I'm not sure the chassis is stiff enough for that. The chassis is mostly 3D printed, and needs just a handful of 5x11x4 bearings and m3x15 bolts to assemble. Parts be downloaded from https://gitlab.com/sdfgeoff/legavos/.../generated/stl

The design is based on Gertlex' Twitch, but adapted for quadrupedal form. (This is a statically stable quadruped, so I'm hoping it doesn't fall under the gimmick clause. I didn't see anything in the rules precluding static stability from quadrupedal mechs.)
Target plates will be mounted on the (yet to be designed) turret

This is a very cheap bot. The servo's were bought for about $5 from china a couple years back. They are really horrid (+-5 degrees backlash), but with this type of mechanics, it doesn't matter so much.

Development plans:

Mech: Design turret slew system

Soft: Fix the internal event system so it doesn't consume 30% of the CPU time looking for where to route events.

Mech: Possibly find a way to mount batteries on the bottom of the mech to lower CG

Soft: Switch from wifi-based networking to something else

At the moment my main concern is armament. I can't get any cheap/lightweight AEG's where I live (no amazon here). I do have a couple thoughts about alternatives, but getting something reliable will probably be rather hard.

Unfortunately the probability of me ever being able to go to the US to actually take part in an event is really low, but I've designing for it just in case the opportunity ever arises.